Colony

     	// Bit 5 - Enable Auto Trigger (for free running mode) NOT DOING THIS RIGHT NOW
     	// Bit 4 - ADC interrupt flag, 0
     	// Bit 3 - Enable ADC Interrupt (required to run free-running mode)
     	// Bits 2-0 - Set to create a clock divisor of 128, to make ADC clock = 8,000,000/64 = 125kHz
     	// Bits 2-0 - Set to create a clock divisor of 128, to make ADC clock = 8,000,000/64 = 125kHz EDIT: changed to 8MHz
     	ADCSRA = 0;
     	ADCSRA |= _BV(ADEN) | _BV(ADPS2) | _BV(ADPS1) | _BV(ADPS0);
     	ADCSRA |= _BV(ADEN) | _BV(ADPS0);
     	// Set external mux lines to outputs
     	DDRG |= 0x1C;
-...
     	adc_current_port = AN1;
     	//Start the conversion loop if requested
     	if (start_conversion)
     		analog_start_loop();
     	//if (start_conversion)
     		//analog_start_loop();
     	//Conversion loop disabled by default
+    }
-...
      * @see analog_init
      **/
     int wheel(void) {
     	return analog8(WHEEL_PORT);
     	return analog_get8(WHEEL_PORT);
+    }
-...
     ISR(ADC_vect) {
     	int adc_h = 0;
     	/*int adc_h = 0;
     	int adc_l = 0;
     	if(adc_loop_status != ADC_LOOP_RUNNING) return;
-...
+    	}
     	//Start next conversion
     	ADCSRA |= _BV(ADSC);
     	ADCSRA |= _BV(ADSC);*/
+    }

      * see bom_refresh
      **/
     int bom_get(int which) {
         return bom_val[which];
         //return bom_val[which];
     	bom_select(which);
         return analog_get8(analog_pin);
+    }
     /**
-...
      *    BOM_VALUE_THRESHOLD
      **/
     int bom_get_max(void) {
         int i, lowest_val, lowest_i;
         int i, lowest_val, lowest_i, i_val;
         lowest_i = -1;
         lowest_val = 255;
         for(i = 0; i < NUM_BOM_LEDS; i++) {
             if(bom_val[i] < lowest_val) {
                 lowest_val = bom_val[i];
     		i_val = bom_get(i);
             if(i_val < lowest_val) {
                 lowest_val = i_val;
                 lowest_i = i;
+            }
+        }
-...
      * @see analog_init
      **/
     int get_max_bom(void) {
         bom_refresh(BOM_ALL);
         //bom_refresh(BOM_ALL);
         return bom_get_max();
+    }

      * @see range_init
      **/
     int range_read_distance(int range_id) {
       return linearize_distance(analog8(range_id));
       return linearize_distance(analog_get8(range_id));
+    }
     /**

Revision 1634